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There are many well-studied swarming algorithms which are often suited to very specific purposes. As mobile sensor networks become increasingly complex, and are comprised of more and more agents, it makes sense to consider swarming algorithms for movement control. The authors introduce a natural way to measure the reliability of various swarming algorithms so a balance can be struck between algorithmic complexity and sampling accuracy. The main idea is to utilize relatively well-developed tools from areas like frame theory to provide theoretical guidance for algorithm selection.
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